Robot for solar farms

ABSTRACT

The solar energy and solar farms are used to generate energy and reduce dependence on oil (or for environmental purposes). The maintenance, operation, optimization, and repairs in big farms become very difficult, expensive, and inefficient, using human technicians. Thus, here, we teach using the robots with various functions and components, in various settings, for various purposes, to improve operations in big (or hard-to-access) farms, to automate, save money, reduce human mistakes, increase efficiency, or scale the solutions to very large scales or areas, e.g., for repair, operation, calibration, testing, maintenance, adjustment, cleaning, improving the efficiency, and tracking the Sun.

RELATED INVENTIONS

The current application is the continuation of a related applicationSer. No. 15/256,524, filed 3 Sep. 2016, now allowed, which is thecontinuation of a related application Ser. No. 14/685,648, filed 14 Apr.2015, now as PN 9457463, issued on 2016 Oct. 4, which is thecontinuation of a related application Ser. No. 12/969,588, filed 16 Dec.2010, now as U.S. Pat. No. 9,020,636, issued Apr. 28 2015. We haveincorporated all of the teachings of the above applications byreference. We claim the priority date of the above applications.

BACKGROUND OF THE INVENTION

The solar energy and solar farms are used to generate energy and reducedependence on oil, or for other environmental purposes. Some of theprior art for solar farms/energy are:

-   -   US patent application or patent number 20030034062, Theodore        Garry Stern et al teaches clean panel.    -   20050103409, Hugo Weber teaches cleaning.    -   20080264411, Gerald Beranek teaches protective pane.    -   20090223510, Theodore E. Larsen teaches optimization.    -   20100000570, Max Mertins et al teaches washing.    -   20090288691, Gene Hunt et al teaches cleaning.    -   20090288679, Anton Pietsch et al teaches cleaning.    -   20090266353, Han-Lung Lee teaches cleaning.    -   20090241994, Han-Lung Lee teaches cleaning.    -   20100043851, Mitch Levy et al teaches cleaning and solar panels.    -   7834303, Fatehi et al teaches concentrators, solar cells, array        of small devices, tracking system, multi-element concentrator        system, and coating and cleaning techniques, to protect/clean        surfaces for the devices.    -   4908903, Mori teaches cleaning.    -   4275711, Dumbeck teaches solar energy.    -   4324947, Dumbeck teaches solar energy/system.    -   4321419, Hanafin teaches cleaning/solar panel.    -   5242827, Chaumont et al teaches cleaning.

However, none of the prior art teaches the features that we taughtbelow, in this disclosure.

SUMMARY OF THE INVENTION

The maintenance and repairs in big farms become very difficult,expensive, and inefficient, using human technicians. Thus, here, weteach using the robots with various functions and components in varioussettings, for various purposes, to improve operations in big orhard-to-access farms, to automate, save money, reduce human mistakes, orscale the solutions to very large scale or areas.

The cleaning robots and inspector robots are discussed here, asexamples. Other variations or types are also discussed (for methods,systems, devices, and materials), for various other functions and tasksin the farm, for installation, optimization, maintenance, and dailyoperation of the farm.

BRIEF DESCRIPTION OF THE DRAWINGS

The following figures are just some examples/embodiments, to explainbetter:

FIGS. 1 a-e show robot functioning and moving around in a solar farm,consisting of various tracks or rails in a matrix form.

FIGS. 2a-b show different types of robots, flat bed carrier and lifter.

FIGS. 3a-i show robot(s) functioning and moving around in a solar farm,consisting of various tracks or rails in a matrix form.

FIG. 4 shows flat bed carrier robot, with lifter or fork lift or blade.

FIGS. 5a-f show robot(s) functioning different tasks and moving aroundin a solar farm, consisting of various tracks or rails in a matrix form.

FIG. 6 shows the pusher robot.

FIG. 7 shows changing directions on the tracks using different sets ofwheels, engaged at different times, perpendicular to each other.

FIG. 8 shows wheels arrangements for rails or tracks or conduits, forrobot movements.

FIG. 9 shows wheels arrangements for rails or tracks or conduits, forrobot movements.

FIG. 10 shows wheels arrangements for rails or tracks or conduits, forrobot movements.

FIG. 11 shows wheels arrangements for rails or tracks or conduits, forrobot movements.

FIG. 12 shows a mechanism for robot movements, similar to a tank.

FIG. 13 shows rails or tracks or conduits or canals, for robotmovements, with stations (e.g. for repair or supplies), multiple loops,and parking spaces, along the tracks.

FIG. 14 shows rails or tracks or conduits or canals, for robotmovements, around or between the panels.

FIG. 15 shows a robot moving on a rail(s) near a panel, and/or workingon a panel, performing tasks, assigned by HQ or central processor(s).

FIGS. 16a-c show a robot with a brush, on a curved panel.

FIG. 17 shows a robot with a wiper tool.

FIGS. 18a-b show a robot with a grip tool, fingers, holder, clamp, orhand.

FIGS. 19a-c show a robot with rails on different sides of a panel,functioning with different tools or tool heads/tips or arms or toolhandles.

FIGS. 20a-b show a robot with a moveable section/sweeper, with respectto the body/trunk/main section of the robot, sweeping across the panel,to cover all areas on the panel, functioning on its tasks, with itstool(s).

FIGS. 21a-c show a robot with a jack/lifting tool, probe, cables,rail(s), hinges, and adjusting mechanism/tool for the angle for thepanel, with respect to the horizontal or vertical planes, for Suntracking or focusing or other purposes.

FIGS. 22a-e show a robot with spherical joints/hinges, lifter(s)/jacks,gears, angle adjusters, engaging mechanism, motor(s), and trackingmechanism.

FIG. 23 shows a mother robot with a baby robot.

FIGS. 24a-b show a panel with calibration cell or sensors or markers orbeacons, positioned randomly or in a pattern, located on top, over,below, behind, or sides (on a blank plate or surface, or on a panel fullof devices or solar cells), for electrical, optical, or positionalmeasurements, to optimize the performance or test the performance ornormalize the performance of the devices, cells, panels, sub-panels, orsections of panels. One example is for the measurements and analysisduring the cloudy days, in which case the performance is normalized toconsider (take that into the account) the overall reduction in energyabsorbed across the farm, due to cloud absorption, to have a bettercomparison on the performance of the panels during different days orseasons, such as using electrical/voltage/current measurements, tocalculate solar cell or panel's efficiency, or find defects onpanels/devices/cells more efficiently or precisely, or evaluate panels,normalized to the degree or effect of cloudiness/cloud.

FIG. 25 shows a mother robot puts a baby robot on a curved panel, forvarious tasks, e.g. cleaning or brushing the surface.

FIG. 26 shows flow chart/method for monitoring panels, e.g. for cleaningor repairs.

FIGS. 27a-c show a robot with an optical device, with its details.

FIG. 28 shows a nozzle used for panels and other applications/locations.

FIG. 29 shows an array or matrix or 2-D (two-dimensional) set for afarm.

FIG. 30 shows an array or matrix or 2-D (two-dimensional) set for afarm, plus a network.

FIGS. 31a-b show rotating tool holder.

FIG. 32 shows tool box, tools,holder/partitions/separators/compartments/shelves/holes.

FIG. 33a shows robot accessories and attachments, for tools and otherpurposes.

FIGS. 33b-c show robot components or subsystems, as a block diagram andregular model drawings.

FIG. 34 shows the farm structure and connections.

FIG. 35 shows adjusting the panel.

FIGS. 36a-c show coarse and fine adjustments for the panel.

FIG. 37 shows adjusting with coarse and fine markers.

FIG. 38 shows adjusting with coarse and fine markers.

FIG. 39 shows dispatching the robots.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

In one embodiment, the robots are divided based on the types of workthey perform. For example, one robot is the repairing robot (to repairthe panels), another one is inspector robot (to inspect the panels),another one is carrying robot (for carrying panels or parts for therepairs or other operations), another one is the mechanics robot (forrepairing other robots or the whole system, such as rails), another oneis cleaning robot (for cleaning the panels), another one is the motherrobot (see FIG. 23) (for carrying smaller robots to the panels or otherlocations, such as to repair depot), supervising robot (for monitoringother robots or removing/solving the problems on spot, real-time),electrical robot (for electrical measurements on the panels, such asspot checking on voltage, current, resistivity, electrical conductivity,Hall multi-probe measurement, microwave measurements, mobility ofcarrier measurement (holes and electrons), defect analysis, dopinganalysis, defect levels in the bandgap, doping and defectconcentrations, surface analysis, surface states, surface analysis,surface bondings, surface cleanliness, and other electrical parameters,for different devices, cells, or panels), recording robot (for recordingthe measurements and other parameters or events, including logs andtimings/scheduling), night robot (for performing the tasks at night,with no Sun), day robot (for performing the tasks during the day),optical robot (for optical measurements on the panels, such as spotchecking on photo-luminescence (at room/ambient or low temperature),electro-luminescence, Raman Spectroscopy, X-ray, any spectroscopy,semiconductor bandgap measurement, defect analysis, crystal analysis,doping analysis, surface roughness analysis, and surface monitoring forcleanliness or debris), adjustment robot (for adjusting the position orangle of panels, or tracking the Sun for panels), or tool robot (forproviding tools such as screw driver or wrench, to adjust the positionor angle for panels, or to fix or tighten a loose connection or screw ona panel or subsystem). In one embodiment, one robot has one or morefunctions, capabilities, or equipment, as mentioned in the list above.For example, an inspector robot can also be equipped with tools, suchthat it can use tools for repairs, as well, once a defective panel isdetected and marked.

In an embodiment, an inspector robot moves on the rails or its ownwheels, to get close enough to a panel, one-by-one, with the coarseadjustment or accuracy with respect to the position of the robot,relative to the edges and boundaries of the panel under inspection.Then, the sensors or detectors on the robot detect the markers, flags,or beacons on or around the panels, to fine-adjust the position of therobot (e.g. a few cm or mm of movements, or small angle of rotation),with respect to the panel. The markers may be a symbol, a magnetic inkor object, color-marked print, tag, pattern, or an RFID (radio-frequencyidentification) device, which can be detected by a camera, patternrecognition module, magnetic detector, antenna, or RFID detector ormodule.

In one embodiment, once the robot is in correct position with respect tothe panel, the robot inspects the panel with its cameras, detectors,measurement tools, and sensors, such as two-probes, multiple-probes,thermocouple, thermometer, power meter, frequency analyzer, ohm meter,voltmeter, and ammeter. For example, the inspector robot takesmeasurements on the electrical behavior of the solar cell, singledevice, or panel, to measure the current, voltage, power, resistivity,electrical conductivity, or heat conductivity (as an example), tomeasure the performance, efficiency, quality, and estimate remaininglifetime of the device or panel(s).

In one embodiment, this can be accomplished using the predetermined dataand patterns on the normal or expected value or magnitude, or range, oracceptable standard deviation, of the normal device under a specificcondition (such as time of day, or date/season, or degree of cloudiness,or outside temperature, or angle of panels, with respect to thehorizontal plane). This data can be the history or prior data collectedon the same or different device or panel (general or average or expectedvalues). When comparing with the expected value(s), if the measuredvalue(s) are very different (more than a threshold or difference ordeviation, in absolute value or relatively or percentage-wise or numberof standard deviations), then the measured value is classified as asuspected value.

In one embodiment, once a suspected value is found, then we repeat thesame measurement(s) or do another measurement, to confirm, correlate, orverify the accuracy, percentage, or degree of confidence, of thesuspected value, to further classify that value as either “passed” or“failed”. That means that the device or panel is either “accepted” or“rejected” (i.e. determining that a panel or device is “good” or “bad”).

In one embodiment, the robot can also use a camera(s) or sensor(s) foroptical measurements. For example, it can take a picture of the surfaceof the device or panel, to see the roughness of the surface, or measurethe reflectivity changes (by shining the light on the surface, andmeasuring the reflection using a detector or sensor nearby, on the pathof reflection), to detect the debris, dirt, snow, or ice on the panel ordevice, when comparing to the pictures of the typical sample orcalibration device or clean device or the original/new device, using apattern recognition software or comparison of the pictures (e.g.bit-wise) or values, for the relative or absolute values of thedifferences (or deltas or changes or variations). Anything above athreshold or having a specific pattern(s) is considered as unacceptabledebris, dirt, snow, or ice on the panel or device, as an example. Thephoto-luminescence and other optical measurements (mentioned above) mayrequire a detector (for light or particle detector), plus a computerand/or frequency analyzer, as an example.

In one embodiment, the sampling of the devices or panels are donerandomly, or periodically, or based on the history. For example, anyarea of the panel with an exceptional history of defects or largeproblems or low quality devices can be targeted or designated to beexamined more often or continuously (as a sampling scheme), to get thepotential problems (and solve them) faster (and with higherpercentages).

In one embodiment, the robot may have a light source or infrared source,for better illumination and detection, on the panel, at different timesof the day/night. The robot may have self-calibration module tocalibrate itself, for positioning and various functions. The robot canhave a calibration module to calibrate devices, panels, cells, or otherinstruments (in another embodiment), on the spot. That saves a lot oftime and money for fixing the problem on spot (without removing thepanels for repair or adjustments, from its original position in thesolar farm, for example).

In one embodiment, after the determination of the defective (ornon-efficient or old or dirty) panel (or device or circuit), theinspector robot moves out of the way, and a repair robot comes in, closeto the defective panel. Then, the repair robot repairs the panel (forexample, solder/connect/repair a metal wire or connection, or adjust anangle for the panel plane, with respect to the horizontal plane). Then,the repair robot moves out of the way, and the inspector robot comes inagain, for another inspection, as a follow-up. If the results of theinspection are satisfactory, the repair is complete, and the robots willgo to their next assignment in their queue or task lists.

In one embodiment, however, if the repair was not good enough orincomplete, then the inspector robot moves out and let the repair robotcome in again, for further repair. This loop or cycle can be repeated Ntimes (where N is an integer, larger than or equal to one, e.g. 3),until the N is reached or until a satisfactory result is obtained,within a margin of tolerance, by inspector robot.

In one embodiment, however, if the repair was still not good enough orincomplete, and if N is reached (as the repeated loop/procedure), thenthe inspector robot refers the problem to the central computer/controlunit, or headquarters, which will send a carrying robot (e.g. having afork lift or tray or box or bag or container or storage) to come anddisengage the panel (e.g. unscrew the panel, with its own screw driverin its tool box, that has an exchangeable head/tip, on a common tool baror handle, for multiple purposes/functions, for example) from the solarfarm or system (or backbone structure, frames, casings, jackets, orholders). Then, the carrying robot lifts and puts the defective panel onits tray (for example).

In one embodiment, then, the supply robot (or the same carrying robot)puts a new (or clean or refurbished or restored) panel in the place ofthe old/defective panel, with a fork lift, clamp, vice, holder,artificial/robotic fingers, arm, lifter, crane, chain, belt, bar, cable,string, tie, suction cup, vacuum hose sucking/holding the object,magnetic pull/push using a permanent magnet (or a coil with a currentgoing through it, acting as a magnet/with magnetic field), hooks, rings,hook-and-loop straps, fasteners, or tapes, tapes, fasteners, glues,screws, bolts, or any other attachment devices or means (located on therobot, or as its tools). Then, the supply robot screws the panel to theframe (or secures the position in any other way).

In one embodiment, then, the inspector robot comes in again, forinspection and measurements on the new panel. The flowchart/procedure/loop/steps/functions described above will repeat again,in case the new panel is defective already.

In one embodiment, all the procedures we mentioned above for the repairrobot also apply to the cleaning robot and cleaning procedures. Forexample, the inspector robot inspects a panel, by taking pictures of thesurface for debris detection, using a pattern recognition software (orcomparing to the clean surface's picture stored previously, as abaseline or calibration/test sample), located at the centralunit/location/HQ (headquarters), or on the robot's computer. The wholedecision making or computer/processing/recognition/detectionunit/software can be distributed, or can be centralized, using commandsand data going back and forth.

Or, in one embodiment, the inspector robot inspects a panel, by takingelectrical or optical measurements, as mentioned above, e.g. to find thelow current or voltage, as an indication of the dirty surface or ice onthe surface. In case of ice, another/heating robot can come and heat upthe panel, using a hair-dryer style device on the arm of the robot, oruse any chemical for de-icing. Alternatively, the heating wiresunder/close to the panel can heat up to de-ice the panel. In case ofmultiple measurements by different methods, the HQ combines all of theresults for higher confidence on detection accuracy, to make sure adefect or dirt is detected.

In one embodiment, in case of the dirty panel, the cleaning robot comesin, near the dirty panel, and it uses the brush, water, soap, chemicals,razor blade, broom, or combinations of them, as its tools, in its toolbox, being put on its exchangeable tool handle (which snaps in or screwsin or clamps in, to secure the tool on the tool handle), with one ormore robot arms, using one or more tools and tool handles, e.g. one toolper one arm, to clean up the surface. Then, the inspector robot inspectsagain. If the dirt persists, the cleaning robot cleans again for N timesin this loop/repeated procedure/steps, until it gets clean, within someacceptable threshold, or range for cleanliness of panel/degree ofcleanliness (e.g. expressed as percentage of cleanliness, such as above80 percent clean, or 80 percent area clean), or N number of loops isexhausted/reached.

In one embodiment, in case that the dirty panel still persists (i.e.cannot be cleaned after N times), the harsh chemicals or harsh brushesare used, or the panel is replaced altogether, with a new panel, using acarrying robot. Then, an inspector robot inspects the panel again. Thiscan be the same or different inspector robot, depending on thescheduling, or optimum locations of multiple robots with respect to thepanel, to optimize the scheduling (e.g. to reduce travel time and cost,or avoid collision on tracks/delays/waiting time, on parking robots,waiting on queue or line, or parking spots along the tracks (similar tometro or train system, with parallel tracks on the side, for parking, orfor passing incoming train on the same track), to get back on the tracksor rails again, as an active or moving robots, to do their functions,per schedule or plan or queue, from the HQ).

In one embodiment, the HQ has the flexibility in re-scheduling all therobots, in case of unexpected event, such as ice storm, to re-define orre-arrange or re-order or re-prioritize the tasks for robots, as alinear optimizer or scheduling optimizer or using any other mathematicaloptimizer, to save time and cost for scheduling/moving robots around thefarm for different tasks. These tasks are listed on the task andpriority list for the specific robot and/or for the whole farm, as onesystem, with multiple subsystems, such as tracks, parkings for robots(to open the tracks or rails for moving/other robots, so that they canpass and get to their destinations, on a 1-way track or limited-capacitytrack or rails), depot for storing robots, shop for repairing robots,and other locations for robots.

In one embodiment, the HQ can convert a repairing robot to a cleaningrobot, in emergency, if needed, for example, in cases that not muchrepairing is needed, but a lot of cleaning is needed very fast, in ashort term, such as after a dust storm covering panels with dust andsand, which requires broom and clean up with power wash. The tools arereplaced on the arm of the robot, to modify or convert the robot, in therobot shop or depot, or at the stations near each track in predeterminedintervals, as a faster way to convert robots without sending them allthe way to the shop or depot, far away, to save time and cost. Theconversion can be done by another machine/robot at the station, or byrobot itself, as a self-service, modifying itself, by engaging its ownarms and tools to change the tools at the end of the tool handles orchange the tool box or storage altogether, to fit for the other tasks orfunctions.

In one embodiment, the cleaning liquid, water, recycled water, solid,liquid, or powdered soap, chemicals for cleaning or de-icing, anti-rustfor joints or parts (to prevent rust or oxidation or degradation), oroil for lubrications of the joints (using a nozzle, spray, valve, ortube), to be used by a cleaning or repair robot, with corresponding pumpor motor and its container or storage(s), are placed in the main body ofrobot, or arm of robot, or in the localized or central storages feedingthe robot near the tracks, or in long pipes along the rails or trackswith supply far away, but feed through those pipes, by suction or motor,to be used by a robot, when the robot hooks/connects to the input valveand then opens the valve for the flow of the liquid, gas, fluid, water,steam, pressurized gas, compound, mixtures, sand, or powder, through thepipes, nozzles, manifolds, or valves, used by the repair or cleaningrobot.

In addition, a supply robot can carry those tanks or capsules orcylinders for gas or liquid along, for the use of another nearby robot(the repair or cleaning robot). The supplies or cylinders or containerscan be changed or added to, using another robot, by robot itself, e.g.at a station or depot (central supply depot/location), using a valve ata station along the track at some intervals or at the main/centraldepot, automatically controlled by a computer (when there is a shortsupply remaining, or indicated by robot or sensors), or by ahuman/user/operator at a station or depot.

In one embodiment, the robot washes with water and quickly dries thepanel with a jet or air flow/nozzle to prevent water residue on thepanels (or use spotless solution or de-ionized water or rinse-freesolution). The robot may have a windshield wiper as a tool (orwindshield wiper attached on a panel, for each panel). The cleaningrobot sprays and wipes clean/dries very quickly, with absorbing clothingmaterial or air pressure.

In one embodiment, the repair robot has tools for soldering (soldertip), welding (torch), and sand blasting (nozzle or pipes or valves),with another arm or fingers holding the material or objects close by forproper operation, and a container (connected through the pipes orconduits or channels or ducks, to the tip of the tool or finger or arm)holding the material for usage by the soldering, welding, or sandblasting (surface cleaning). The sandblasting harshness and strength forcleaning the surfaces are adjusted using the motor speed, grain size forsands, type of sand, nozzle opening size/diameter, pressure of gas,speed of the gas, and size of the cross section for the air/sand jet.

In one embodiment, the measuring or inspection robot uses voltages,currents, and other optical or electrical characteristics/measurementsof the devices and panels, for cleanliness scale and calibration, toquantify the cleanliness, in scale of 0 to 10 (or to 100, or aspercentage), as an example. That has a direct effect and relationship tothe effectiveness and efficiency of the solar cells, semiconductordevices, or panels, to convert the photon or light to electricity,because the dirty or covered panels are very inefficient. Thus,beforehand, on predetermined surfaces, these surfaces are calibrated andtabulated, based on the measured current, voltage, and power generated,to map them to the cleanliness scale, for calibration, for futurecomparison. In addition, the data from a specific panel can be comparedto its prior history, or other panels nearby or similar, to get astandard deviation and acceptable range or threshold/values, foracceptability criteria and cleanliness/efficiency of solarpanels/devices.

In one embodiment, one or more cameras can be used for the inspections,for back side and front side for the panels, or different parts of thepanels, or move the cameras on a rail on the robot, for better coverageof the panel in 2-D (dimensional) space, on the panel. Two or morecameras focusing on a panel can be used for depth and positiondetection/determination, as stereo-cameras for measuring depth andlengths, for example, finding the size of dust or particle/ice sheet onthe panels.

In one embodiment, the thickness of the ice can be estimated by opticalmanners, as well, using the reflection or transmission of the lightacross or through the ice sheet, and measuring the brightness, anglesand distances deviated due to the ice sheet, instead of usual air, ontop of the panel, based on refraction, reflection, and transmission(optics/laws in physics), for a material with an index of refraction (n)and thickness (L), which can be calibrated beforehand, as well. Thecalibration/test data is expressed as a formula, table, curve, or aspoints in a database, expressing the relationship between L andrefraction, reflection, and transmission of the light, in terms ofdistances and angles deviated, due to the ice sheet or layer on thepanel.

In one embodiment, other devices attached to or carried by a repair oroptical robot for repair and optical inspection comprises: mirror(concave or convex), lens (concave or convex), light reflector, nightvision, light source(s), flash light, flood light, color light, laser,diode light, halogen light, anti-fog light, concentrator for light,video recorder, still-image digital or analog recorder/camera, patternrecognition module/software, antenna for transmission of data, or memorystorage for storing the data, such as magnetic or optical disk, CD, harddrive, and memory stick.

In one embodiment, the depot is the place for storing the robots.Parking spaces are extra tracks or rail systems, parallel and close tothe main tracks or rails, for the incoming or potentially collidingrobots avoid each other, or two or more robots use a single lane, rail,or track, without collision. For example, the first robot pulls out fromthe main track and waits in the nearby parking space, as a detour orwaiting/queue location, until the incoming robots in the same lane ortrack pass. Then, the first robot comes out from the parking space, andcontinues in the opposite direction, as originally intended.

In one embodiment, one or more baby robots are carried by a motherrobot, to put them in a right place, e.g. for a repair task on a panel.The mother robot can push or pull or control the movements of the babyrobot, by remote control, such as wired or wireless controller/antenna.The mother robot can supply electricity or power to the baby robot, suchas charging the battery. Or, baby robot can get energized, such asrecharging battery, through power lines on the side of the tracks andrails (by hooking up and connecting to them, directly, or through motherrobot). The transformer or AC-DC conversion or battery can be placed onthe baby robot, mother robot, stations along the railing system, or acombination of them.

In one embodiment, the energy and electricity can also come from thesolar farm/nearby panels itself, wireless electromagnetic transmissionof power, wired transmission of power, batteries, heavy flywheelsstoring energy mechanically, spring-powered mechanical gears (wound up),power grid, betavoltaic sources/batteries, wind generators, nuclearplants, ocean waves, tidal movement of water, or any other sources.

In one embodiment, the baby robot is autonomous and independent both indecision making or functions it performs (or both). In one embodiment,the baby robot needs the help of mother robot (or HQ), to make decisions(such as scheduling, detection, or recognition), or do the functions.For example, the mother robot carries a baby robot to a dirty panel, andputs the baby robot on top of the panel's surface. Then, for example,the baby robot uses its small brush to clean up the curvature (e.g.concave) or flat surface of the panel, by going in rows and columns, orzig-zag, to cover all the surface, or at least the dirty section of thesurface for the panel (which is marked and tagged in the memory of theinspector robot beforehand, and the data transmitted to the HQ already,to be instructed/transmitted to the cleaning baby robot).

In one embodiment, the baby robot has its own motor, 3 or 4 wheels,tank-like chain moving mechanism, rotating mechanism, reverse movingmechanism (such as gearbox and gears), tool box, arms, handles fortools, tool tips (exchangeable tips, such as screw driver at differentshapes and sizes, oil dispenser for lubrication the gears for thesystem, hammer for repair functions, or soldering tip), carrying bag fortools or pieces, vacuum bag for vacuuming and cleaning the surface,different brushes of various sizes and softness for cleaning, razorblade or ice blades for scrapping the ice or dirt off the panel, andvarious other tools.

In one embodiment, multiple baby robots do the cleaning faster. Thecollision avoidance mechanism can be central, using scheduling programby HQ, and also, to make sure they all cover the entire surface, withminimal overlap/waste. The collision avoidance mechanism can be local,based on the detecting or locating other baby robots, by baby robotsthemselves, or by a panel vision system nearby (cameras attached nearthe panel), so that they either avoid each other by stopping or changingdirection/speed, or by softly hitting each other (softly bumping to eachother, without any damage to the baby robots or system, with low speedand good shock-absorbent bumpers, like cars) and changing direction(going reverse) immediately, without major supervision/control from HQor outside.

In one embodiment, when baby robot reaches to the edge of the panel, itstops and comes back/changes direction, to avoid the fall (and damage tothe baby robot). This can be done by a raised edge of the panel, as amechanical railing or barrier around the panel, or by markers/beacons(as described elsewhere in this invention) that the baby robot detects,to stop or slow down or change direction, to avoid falling off the edgeof the panel.

In one embodiment, the mother robot can wait for the baby robot tofinish its task, to remove it to the next needed panel. Or, the motherrobot can go to other locations for other work/tasks, and especially, ifit takes too long for cleaning by the baby robot, later on, the same ordifferent mother robot is scheduled to come and pick up the cleaningbaby robot, to be moved to another panel for more cleaning. Thescheduling of the mother robots for pick-up or drop-off are done by HQ,in one example, to optimize the resources, reduce cost anddelay/waiting, and improve efficiency of the whole system/solar farm.

The baby robot can be detected and grabbed by the mother robot usingmarkers, color, tags. RFID, any beacons, sound source, light source atspecific color, laser source, by object recognition, or by shaperecognition. Alternatively, the baby robot can measure and detect itsown coordinate with respect to the coordinates of the panels, and itscorners, and the information is transmitted to the mother robot, via HQ,or wirelessly or by cable, such that the mother robot can grab the babyrobot from any location on the panel, or alternatively, from a specificlocation on the panel, designated for the pickup, which baby robot canindicate its readiness, to be picked up by the mother robot, when thebaby robot reaches to that pickup location on the panel.

In one embodiment, the adjustment robot adjusts the angle or slope ofthe plane for the frame that holds the panel, so that it tracks the Sun,as much as possible, regularly, periodically, or at some specifictimes/intervals, determined by HQ, to optimize the efficiency of solarcells and obtain more energy from Sun per day. The Sun tracking can bedone or Sun's position detected by outside entity such as HQ orinspector robot. Alternatively, it can be done using the sensors on thepanel itself, such as photodetectors, for measuring the intensity oflight. Alternatively, it can be done using historical data or data fromnearby (or same) panels, for comparison. Alternatively, it can be doneusing current and voltage measured from the panels or devices, tocalculate the efficiency, and try to optimize that by trial-and-errortechnique (i.e. adjust the angle and measure, in a loop/repeatedprocedure, until it does not get any better. Then, stop at that point,which is the optimum angle for our setup, for the panel for solar cellefficiency.). Or, HQ can use prior data (and use a software) to optimizethe angle/position of panel, based on how close the current and voltageget to the expected/optimum value(s).

In one embodiment, the adjustment robot adjusts the angle or slope ofthe plane for the frame that holds the panel, using a screw driver orwrench, on its tool handle, on its arm, using proper tool tip(exchangeable) to fit the screws and nuts, stored in a tool box or trayor bag, attached to or carried by the repair robot, and properly storedin small compartments in the toolbox for easy access and pickup by therepair robot. The size of the nuts and screws are known already from thesystem specification, which is stored in the HQ database/magnetic datastorage, as an example. Alternatively, the small camera installed nearthe screw, or on the arm of the robot, can pick up the image of screw,and by the pattern recognition module, at the HQ or on robot itself, itdetermines the exact size and type of screw, for proper tool or tooltip, to be selected by the repair robot, from the toolbox.

In one embodiment, the pattern recognition module can be a normalizerunit that normalizes the size of the digital image. Then, the outputgoes to the analyzer for comparison to a database, for sizedetermination, such as bit-by-bit comparison of the 2 images, plusconsidering of the factor for normalization, to get the absolute valueof the size of the screw or nut, in terms of inch or cm or mm.

The following figures and corresponding descriptions are just someexamples and embodiments for the teaching the many different aspects ofthis invention:

In one embodiment, FIG. 1 is an example of the sequence of 2 robotscarrying a task together, designated as Robot 1 (lifter robot, with afork lift, magnet, chains, bars, arm, fingers, suction cups (or hosewith a pump or motor), bracket, frame, holder, spoon-shaped container,fork-shaped container, or crane (with a ring and a hook)) and Robot 2(flat-bed carrier robot). The solar farm comprises some arrays of 2-D ormatrix or columns/rows of panels, with rails or tracks (or paths orstreets, for some robots having 3, 4, or more wheels, that can movearound on wheels, without the rails), located in between panels, forrobots to move around in 2 directions/dimensions/perpendicular paths, or1 direction, as shown in FIG. 1a . The rails are useful for repairrobots or inspector robots to move around and do their functions/tasks,as explained above, without or with minimal human intervention orsupervision.

In one embodiment, the array of mirrors or panels is rectangular-shaped.In one embodiment, the array of mirrors or panels is notrectangular-shaped. Rather, they are positioned in a curve arrangement(concentric, radially, or any arbitrary shape), e.g. focusing on onepoint, as is common in the concave mirror farms, all focusing on a smallarea on a tower, to heat up a container on the tower.

FIGS. 1a-1b show, for example, once a defective panel is detected andmarked by an inspector robot, as explained above, Robot 1 and Robot 2approach the panel on the rails or tracks. Then, Robot 1 lifts the paneland puts it on/inside the tray, container, box, plate, or bag of Robot2, as in FIGS. 1c-d . Then, Robot 2 moves away to repair shop or depotor storage, for storing or repairing the defective panel, as in FIG. 1e. Consequently, a new or refurbished panel, or a new or better versionof the panel, will be brought by the robots (and gets installed, asexplained above), as an example.

FIG. 2a shows one carrier robot with a flat bed or tray, with (optional)hinge(s), with multiple piece arm(s), which can go up and down (e.g.through a rail, cavity, or conduit), with respect to the robot main bodyor trunk. FIG. 2b shows a lifter robot, with a fork-lift structure, or ashovel-like structure, for lifting purposes, from its side view.

FIG. 3 (FIGS. 3a-i ) shows a sequence of (an example) of a robotremoving a defective panel to the depot or repair shop. However, in thiscase, one robot has both a lifter and a flat bed. Thus, only one robotcan do the same functions/tasks performed by the 2 robots, above, as theone shown in FIG. 1 sequence. The rotation at the corners, or betweenrows and columns, for change of direction, e.g. at 90 degree, for therobot, is done by short curved interconnecting rails (similar to the oneshown in FIG. 13, or those used on train or metro rail/track systems,for many years, as they are well-known in the art).

Alternatively, it can be done using different sets of wheels (e.g. 2, 4,6, or more wheels) under the robot (e.g. fitted to rails or tracks) thatcan be brought up and down in the following manner: to get engaged withthe tracks 90 degrees perpendicular to the current tracks(perpendicular-direction wheels brought down), and then to getdisengaged from the current tracks (current wheels brought up). Then,the active wheels are working on the perpendicular direction (withrespect to the original direction/tracks). Thus, the robot now moves inthe perpendicular direction or tracks, as in FIG. 7. Alternatively, onlyone set of the wheels can be brought up/down, and for the otherdirection, the wheels can be fixed or stationary, in height. In oneembodiment, there is a gear to change the direction of the robot in thereverse direction, on the same track, similar to a car or train or metrosystem.

Alternatively, it can be done using hinges on the wheel sets (to rotatethem), or using a differential system at the curves for the pair ofwheels on both sides (similar to those of the cars or trains orunderground metros), or using ball-bearings (for low frictionrotations), or a combination of those techniques.

FIG. 4 shows a typical side view of the robot having a lifter and aflat-bed/tray, which is adjustable in terms of height, for the sequenceof FIG. 3.

FIG. 6 shows a pusher robot with a wide or narrow hand or frame orperpendicular tray or extensions or blade (similar to a bulldozer), onan arm(s), with optional hinges, for pushing/moving the panels (e.g.panels moving on wheels, on tracks), as shown in the sequence of FIG. 5(for Robot 1 and Robot 2). FIGS. 5a-d show the removal sequence for anold/defective panel. FIGS. 5e-f show the placing or installing sequenceof a new panel.

The rails and tracks and wheels are generally protected against thenatural elements, such as water, sand, and ice, by having a cover onthem, at least partially (such as FIG. 8), and having a gutterunderneath, or holes, to move the water out of the railing system, as isconventional in the railing technology, e.g. for the protection of thehigh-voltage line/power lines for metro or train systems.

FIG. 8 shows the 2 rails coming out of the page, perpendicular to pageof the figure, and the wheels rotate on those rails, causing the robotto move on those rails. It also has an optional cover for a betterprotection of the rail system.

FIG. 9 shows another rail system, with wheels situated horizontally.However, for better support, one can add a vertical wheel under thehorizontal wheels, to hold the weight better. That vertical wheel can beon a hinge (or flexible connection), so that at the curved places, forrotation, e.g. at the corners, it can work properly, without breakingthe wheels. The connection between the horizontal wheels can also be ona flexible basis, rather than a fixed rod, similar to the conventionalcar steering system, with differential system, for steering the vehicle,with one wheel moving much more than that of the other pair/wheel,without breaking the whole system under stress (of being asymmetricmovement, between the pair of wheels). In one embodiment, there is anextra wheel for balance, to keep the robot on the track, and to preventthe fall of robot. In one embodiment, there is a gyroscope for adjustingthe balance of the robot on tracks.

The power line can be fed through a cable or brush or broom or hook, onthe side of the track, as shown in FIG. 9, very similar to theconventional power supply/connections for electric trains andsubways/metros/undergrounds. In addition, a spring-loaded ortelescopic-arm contact or brush can be used for electrical connections,e.g. for commands, data, or electrical connectivity, for inbound andoutbound directions.

FIG. 10 shows another system for rails, where a moving or pulling cablemoves, and when a robot is done with its tasks and wants to move toanother location or next panel, the robot can engage (attach itself to)(latch to) (or grip) the moving cable, to move to the desired location.Then, once it is getting close to the destination location, the robotdisengages the moving cable, to stop at the desired location, byfriction, or by applying a brake system.

FIG. 11 shows another system for rails, with one pair of vertical andone pair of horizontal wheels on each side (per track). FIG. 12 showsanother system without rails (free-movement robot) that employs themoving mechanism of a conventional tank or a bulldozer. Alternatively,the robot can move on 3-4 wheels, or more, similar to the conventionalcar or vehicle. Alternatively, the robot can move based on hovercraftmechanism, jet, gasoline engine, electric motor, or any other systemconventionally used in the prior art.

In one embodiment, the robot puts a cover on the panels during/beforesand storm or ice storm, for example, for protection, such as a plasticcover or heavy duty flexible material. The cover can be built-in, on theside of each panel structure/frame. Or, the cover can be carried by aprotective robot, in its bag or container or basket, located inside, ontop, bottom, or on side of a robot. The cover can be Venetian-typecurtain or spring-loaded curtain. The cover can be opened/closed by HQ,by panel itself, or by robot intervention/help (or all of the above),using motor, spring, lever, air pressure, magnet, electrical coilmagnet, or any similar methods.

Solar farm in this invention applies to the farms with panels for solarcells. Also, it applies to the solar heating panel farms (or solarheating sheets or containers or collectors or tanks or storages), whichuse liquid, water, or oil, to heat up and absorbs the Sun energy, tomove a turbine or heat up a water tank for use of hot water, for waterusage or heat up a house or room. All the teachings in this disclosurealso apply to the mirror farms, in which the panels are huge mirrors forthe reflection of the Sun, to concentrate on a small space for heatingup a container. It also applies to any reflector surface farms, curvedor flat, or mirror or lenses, metal or glass, or concentrator farms,with any types of surface, to absorb, direct, re-direct, or concentratethe Sun light, using semiconductor or direct heat/energy fromphotons/light (or from phonons, as lattice vibrations, due to heat,sound, or other energy sources, caused by Sun energy). In general, itapplies to any farm or array of devices and panels, or in matrix form,in 1-D, 2-D, or 3-D arrangements, in any shape, even curved andnon-rectangular, or circular, or symmetric, or irregular, using thepower of Sun.

In one embodiment, FIG. 13 shows another system for rails, in which arobot can go from one loop to another loop or subsystem, using a commontrack, e.g. to move solar panels, e.g. from the installation point todepot. It also shows a side track extension, for (or as) a parkingspace, to store the robots temporarily, or for multiple robots using thesame track, moving in different directions, to be able to pass eachother without collision. It also shows 2 stations near the tracks andnear the parking space, as an example. FIG. 14 shows an arrangement ofthe loops, with a curved rail, which can be cascaded with many moreloops, on each side.

In one embodiment, FIG. 15 shows a robot which moves on a side rail, onthe side of the panel structure, which has camera(s) and light source(s)(for example for night vision and repairs at night), plus one or morearms and tool holder(s), so that multiple functions are possiblesimultaneously, or one at a time. The tool handle can be added to thetool holder, which has multiple tips for various tools, e.g. differentscrew drivers. Tool holder can also function with tools directly,without tool handle, with tools from its own toolbox, or a toolbox at ornear the rail, stations along the rail, or near/on a panel, e.g. as abox or container.

In one embodiment, FIG. 16a shows a robot on the side rail, thatincludes cables, wires, pipes, or conduits, for control wires, powerwires, air pump, air supply, vacuum suction, water jet, air jet (e.g.for the nozzle at the tip of the tool holder), soap, chemicals, cleanerliquid, and other material supply to the tip of the tool holder, e.g.for welding or sputtering or sand-blasting. In one embodiment, toolholder has an exchangeable tip, with different tools attached to thetip, such as brush, to be changed or installed by a human user, samerobot, a machine at a station, or different robot. In one embodiment,tool holder has a fixed tip, e.g. with a single handle and a single toolattached permanently.

In one embodiment, the brush may have a tilt, curvature, multiplemini-brushes at different or flexible angles, or telescopicarm/extension, or flexible/spring-loaded plate(s), to be fitted on(hugging or leaning against or touching) the surface of the curvedplane, panel, mirror, or lens.

In one embodiment, to change the tool tips, the robot puts its arm ortool tip into a hole (located at a station, or depot, or on anotherrobot, or on itself), so that a jaw or hand grabs the tool, and a wrenchdisengages and separates the tool from the arm. Then, the robotwithdraws its arm from the hole. Then, optionally, the robot puts itsarm into another hole (located at a station, or depot, or on anotherrobot, or on itself), and a wrench attaches a tool tip (which is a toolwith no handle) to the robot's arm (or attaches a tool tip to the toolhandle, which is attached to an arm of a robot). Then, optionally, thejaw (or hand or gripper or holder) that holds the tool tip (if any) willlet go (opens its jaw), so that the robot arm can take the new tool tipand withdraw from the second hole. In some embodiments, there is no jawto hold the tool tip, and the tool tip simply sits in a hole orhorizontal cylindrical cavity, until it is picked up by a robot arm, asdescribed above.

In one embodiment, to change the tool tips, the robot has 2 or morearms, or alternatively, uses an arm of another robot, to grab andengage/disengage (attach/separate) the tool tips. Alternatively, thesecond or extra arms or hands are coming from a machine located at adepot or station or near a panel or near rails.

In one embodiment, FIG. 16b shows a robot in action/cleaning, which ismonitored in real-time or on-spot, using a camera connected to HQ, witha light illuminating the panel for inspection, analyzing the images atHQ, for pattern recognition or surface analysis, to stop the cleaning ordo more, depending the quality (status) of the surface, if needed, basedon some threshold or range of cleanliness, as a number, percentage, orparameter for quantization of surface status. The brush can have asensor, e.g. on the back, such as using piezoelectric sensor, to measurepressure, for adjustment of the force behind the arm/brush, for goodattachment to the surface, without too much force, as a feedback, toprevent damage to the brush or robot or panel.

In one embodiment, FIG. 16c shows a robot in action/cleaning, up to anedge, so that it stops at that point or line or boundary, due to abeacon, flag, marker, or mechanical barrier, using pressure sensor,switches (similar to toy cars, bumping to objects, and reversing theirdirections), light sensors (similar to the garage door openers), orcameras (for digital images or pattern recognitions). Alternatively, itcan be done using the already-known dimensions of the panel, to limitthe movements of the brush or arm of the robot accordingly, with respectto angle or size of the ranges for the arm or brush movements.

In one embodiment, FIG. 17 shows a robot in action/cleaning, using awiper tool, such as those on windshield wipers. In one embodiment, FIGS.18a-b show a robot in action/grabbing, using a grip tool or fingers orvice grip or hand or clamp or jaws, to (e.g.) remove or put or replace apart or component on the panel, for repair purposes.

In one embodiment, the robot is not on a track or rail. Instead, it ison 2 or more wheels (or using wheel/chain combination, belt/wheelcombination, horizontal cylindrical roller, ball-roller mechanism, orbulldozer or tank moving mechanism), moving through the solar farm fordifferent tasks, without railing. The movement of the robot is based on,e.g.: (1) a pattern (for the routes it uses, on the ground of the farm,e.g. using a GPS/global positioning system, or marker/flags around/alongthe routes) instructed from HQ, or (2) direct vision/camera and patternrecognition to analyze and recognize objects, targets, panels, routes,and landmarks to perform its tasks, or (3) using markers or dots orcolor/paints, on the floor of the farm/ground, as a guide for a cameraor detector, to follow the marker, to go from point A to point B in thefarm, for different panels, for different tasks, assigned or scheduledby HQ or other processors.

In one embodiment, FIG. 19a shows a robot on 2 rails on 2 sides of thepanel, going from panel to panel, with multiple cameras for variousposition inspections, and multiple lights/flashes/floodlights/LEDs/Halogen lamps/fluorescent lamps, at different wavelengthsfor various illuminations at different times of the day, and varioussensors or detectors, such as for X-ray or backscattering orphotomultipliers or photodetectors, to measure or detect or distinguishparts, thresholds, optical characteristics, parameters, problems, dirt,ice, or defects, for the panel or surface or devices or farm or wholesystem or tracks. The robot has 2 or more telescopic arms (e.g.hydraulic or pump or motor or chain-driven) to move the robot up anddown with respect to the panel to do various tasks, or change the angleof the robot with respect to the plane of the panel to do various tasks,for maneuverability, e.g. for big tools.

In one embodiment, FIG. 19b shows the robot in action. FIG. 19c showsthat the whole assembly for camera or tools can be installed on a railon a robot, to move and scan or sweep or cover one range/area, such as asweeper, in 3 different directions, as 3-D movements/axes, in Cartesiancoordinates, or using/changing angles of rotations and radius ofrotations in cylindrical or spherical coordinates, such as a telescopicstructure or extension or antenna for changing radius, with a ball atthe base as a hinge for changing angle in 3-D space, as is well-known inthe art.

In one embodiment, FIG. 20a shows the robot in action, with a wiper(tool tip) attached to a tool handle or holder, for cleaning purposes orde-icing the surface/panel. In one embodiment, FIG. 20b shows the toolholder extended for performing the task, as needed on some parts of thesurface.

In one embodiment, FIG. 21a shows the robot in action, with thefollowing components and features:

2110: Power and Signal Connector to the solar panel for measurement andcalibration.

2112: Power and Signal Connector carried by panel arm of the robot, orthe electrical probe for electrical measurements on the panels ordevices or cells.

2115: Tilt Adjuster Wrench Driver or motor

2120: crank axel

2125: Lift or jack

2130, 2132: Lift support (e.g., axial or spherical joint) coupler

2135: Joint (e.g., spherical), hinge, or ball-joint

The robot is located at the side of the panel, with one or more rails onthe side, perpendicular to the plane of the picture, with flexible arm,connecting electrically to the panel, for (e.g. electrical) measurementsand power supply/power gathering and transfer from the panels, or to thepanels. The robot uses 2115 motor to crank the shaft 2120 to lift thejack or lift (e.g. screw-shaped/design), to change the angle of thepanel, for tracking the Sun, cleaning, repairing, adjusting,storing/protecting during storm, or optimization of the position andangle for the panel, using feedback from the electrical measurements (oroptical), as described above. Various contacts, hinges, or ball-hingesare used, e.g. at 2130 and 2135, to make the lift of the panel possible.The lift of the panel can be done with one or more jacks/lifts, from oneor more sides, as an embodiment.

In one embodiment, FIG. 21b shows the lifting process, and 2112 engagingand connecting to 2110, for electrical connections, as mentioned above.In one embodiment, FIG. 21c shows the lifting, and stretching at thehinge or ball-hinge or spherical-hinge 2132 and 2130, by moving the jackup, using 2115 and 2120.

In one embodiment, FIG. 22a shows a robot on rail or rails, movingaround, with wrench driver, cranking axel to lift the jack, to lift thesolar panel, from one or more points or directions (or lowering thepanel, in the reverse direction, using the same jack). The relativeangle and slope of the panel (with respect to the horizontal plane) canbe changed using the relative height of one or more jacks, under thepanel. The spherical joints, ball joints, or ball hinges are used toconnect to the panel, to enable the one or more jacks being applied tothe panel, to change the height and slope/angle of said panel, e.g. fortracking the Sun.

In one embodiment, FIG. 22b shows a robot in which the arm is engagedwith the crank axel, to lift or lower the jack, for one or more jacks.The arm is moved/rotated, to connect to the crank axel. In oneembodiment, FIG. 22c shows a robot in action, in reverse direction, tolower/bring down the panel or one side of the panel, changing theslope/angle of the plane of the panel.

In one embodiment, FIG. 22d shows a case in which one side rotatesfaster for crank axel, lifting faster for that side, by engaging thegears inside the chain, bar, belt, or jack, to tilt the panel toward onedirection or the other. In one embodiment, FIG. 22e shows thedisengagement of the arm(s) from the crank axel(s), to leave the panelin the same position and angle/slope.

In one embodiment, FIG. 24a or 24 b shows calibrations cells or sensors,for calibration or analyzing or testing the panel, located in patterns,in order, or randomly, to find the ice or dirt or problems or defects onthe panel. For example, if the day is cloudy, one can get thatinformation, about loss of energy/reduction in efficiency, using thecalibrated/calibration cells or devices on various panels in the wholefarm/system, as a pattern observed across the board. The calibrationdevices may be among other regular devices. Or, alternatively, they maybe isolated/located on separate panels/panel.

In one embodiment, supplies (e.g. water, chemicals for de-icing, soap,or electricity, e.g. using battery or outlet, from grid or from solarfarm itself) can be held by the robot itself, or by another/carryingrobot or supply robot, or at a station near tracks at some intervals(inside containers or cylinders or tanks or storages), or using a hose,outlet, valve, or switch at a station with supply on pipes or conduitsalong the track at intervals (or at specific distances), coming from a“central location” at the farm, with huge supply or containers,distributed/used along the tracks to different panels or robots forvarious tasks, such as repair, soldering, welding, cleaning, orde-icing.

In one embodiment, the same concept (mentioned above, for supplies) alsoapplies to the deposits. For example, for deposits such as collectinggarbage or dirt, a cleaning robot empties its vacuum cleaner bag(periodically or when it is full) at a (local) station along the tracks(depositing locally), for future pickups, by a garbage robot, to carryall of the collected garbage and dirt, to a “central place” at the farm,e.g. for disposal out of the farm area at a later time. Or, the stationis connected to the central place via a vacuum hose(s), so that a motorcan suck the dirt and move that to the central place, through the vacuumhose(s).

In one embodiment, the water or soap or chemicals used, e.g. forcleaning, are separated and recycled through some trays (under thepanels or robots), for recycling and re-usage. The recycling unit can becentralized or localized. The recycling unit can have a small motor forcarrying the material through the pipes or conduits. The recycling unitcan have storages, for storing or recycling different components andmaterials.

In one embodiment, FIG. 25 shows a curved/concave/mirror/reflector as apanel, tilted on a base/supporting structure, with a mother robot comingto it, on a rail(s) on the side, with one or more baby robots on themother robot, inside the pouch, pocket, purse, bag, container, orstorage(s). For example, a baby robot is picked up/grabbed by the motherrobot, using tool holder and arm, from the pouch, and either released ordirected/moved around on the surface of the panel, to do a task orfunction, such as cleaning task, e.g. using a brush, soap, or air.

In one embodiment, FIG. 26 shows monitoring the panel or surface basedon many methods mentioned above or at 2610. The measurements arenormalized based on the season and weather conditions and otherparameters affecting the output, 2615, e.g. voltage, current, or powerfrom a panel or device (or solar panel efficiency or performance). Thatis, for example, if the weather is cloudy, the calibration devices,mentioned above, will register less current or power, indicating thethere is less Sun and energy at this time or day, which means that thelow power is not due to the ice or dirt, which means that the surface isstill clean, and no cleaning is needed now.

In one embodiment, the temperature sensors, thermometer, orthermocouple(s) can also help to indicate the temperature outside at thepanel surface, to guess/determine if there is an ice forming on thepanel. The humidity and wind speed can also be measured by any method ofprior art, to help to guess/determine if there is an ice forming on thepanel.

In one embodiment, the result(s) is compared to a baseline (2620),theory, history, prior data, similar panels at different locations atthe same time, or simulations stored or done real-time/on-spot, to findthat there is an unusual data/output, to determine if that is indicatingdirty surface, ice, defective panel, component, device, wiring, cable,or solder, broken glass or cover, or any other problem in cell, device,arrays, panel, system, panels, farm, connection, transmission of power,or grid, 2625, using a threshold or criteria, 2630. In case the resultis satisfactory and acceptable, it moves to the next panel or task, orretire the subroutine, software, or robot for the moment, or for therest of the day, 2635.

In one embodiment, if the result (from further measurements andmonitoring) is indicating that a repair, exchange, cleaning, oradjustment is needed, 2630, then the cleaning or repair is initiated.Then, the panel is monitored again, to determine this is acceptable, sofar. Otherwise, the cleaning or repair is continued or modified. Forexample, a harsher cleaning or brush, or different or stronger/weakersoap or method (2660), is needed (or being sufficient), to do thejob/finish the cleaning procedure or routine, as shown in the loop(2645, 2650, 2655, and 2660). Once the repair or cleaning or the task isfinished/performed, the robot moves to the next panel, 2665.

In one embodiment, the robot does the adjustment on the panel, such asSun tracking, using jacks to lift one side of the panel, for optimumangle of Sun rays on the panel, for higher electrical or energygeneration/conversion efficiency. In one embodiment, the robot does theprotection, by pulling a cover on the panel, or using an umbrella,from/stored in its bag, over the panel, to protect against hail, frozenrain, storm, or dust.

In one embodiment, the farm consists of a main processor(s) at HQ andmultiple smaller processors locally for local/simple decisions on therobot (e.g. local pattern recognition for finding defects or problems ona panel) that do not require the coordination of all system or robotstogether (such as scheduling, prioritizing, robot movements, movement ontracks, parking scheduling, or emergency situations, e.g. stormsprevention/protection and repairs).

In one embodiment, everything is done at one place, at HQ, “centrallocation”, for all decisions. The communications in-between HQ androbots (or stations or depot or storages or grid or switches or trackingmovers (to move tracks for re-routing the robots, such as those inrailroads) or parking or garages (multiple level track system onmultiple floors, to store robots, similar to those used for cars)) canbe done wirelessly (e.g. antennas or satellite dishes/receivers), bywire, by cable, by Internet, remotely, optically, by laser,electromagnetic waves, Morse code, sound, voice, notes, marked papers,marks on papers, computer instructions on papers or cardboards orplastic cards, magnetic cards or memory, optical memory or disk ordevices or storages, or computer-readable instructions on any media.

In one embodiment, the robot can move freely on its feet (2 or more),without wheels or rails. In one embodiment, the statistics or history ofthe measurements and data indicates the repair needed or scheduledmaintenance, as preventive maintenance. In one embodiment, the robot orfarm have redundancies in operations and functions, e.g. for preventivemaintenance (e.g. lubrication, cleaning, or parts exchange), or for thesake of efficiency, or less down-time during the day or noon-time. Mostrepairs are done at night, to have more efficiency during the day/Sunexposure/day operation. In one embodiment, the robot uses infraredcamera, heat sensitive detectors, X-ray to find defects, or ultrasonicwaves/detectors to find defects, e.g. cracks in material or structuresor panels.

In one embodiment, the robot is self-repairing, e.g. use screw driver totighten or replace screws or parts/components, on itself. In oneembodiment, the location of robot is determined wirelessly, e.g. by(active or passive) RFID and WiFi, or by magnet, GPS, triangulations,sensors near the track(s), tags, flags, acknowledgement messages,commands to HQ, message at tracks or stations, antennas, or codes, forscheduling, collision avoidance, overlap coverage, redundancy, or areaof coverage, e.g. for task assignment/management, based on the locationof all robots active in the field.

In one embodiment, the robot is on one rail, two rails, or more than 2rails. In one embodiment, the rail is on the ground, on the air,underneath, over, suspended, or on the side of the robot. In oneembodiment, the HQ does the risk analysis for time-to-failure analysis,for preventive maintenance. In one embodiment, the brush, spray, jet,soap dispenser, and camera are located in series, in the order they areneeded. In one embodiment, the brush, spray, jet, soap dispenser, andcamera are located in parallel. In one embodiment, the brush, spray,jet, soap dispenser, and camera are moved in/out of the sight, or front,to do their functions, one at a time.

In one embodiment, the wheels on the track have independent axis orshaft for rotation. In one embodiment, the wheels on the track havemultiple diameter wheels attached to each other, as a single concentricunit. Then, like trains, it can be used on tracks on the curved paths,for better rotation/support at the curves. The electrical power can besupplied through the wheels, or through the metal brush structure alongthe wheels and tracks, or through the small wheel rotating or touchingon another track(s) that carries the voltage V (located along thetracks), similar to electrical tram's or trolley's system.

In one embodiment, for aligning the panel with respect to robot, or viceversa, or with respect to Sun (for Sun tracking), knobs, levers, orhinges can be used, with screw drivers or screws for adjustments, andcameras or sensors (e.g. electrical or magnetic or optical) fordetecting the edges or positions/markers/beacons (e.g. RFID or magneticstripe or painted stripe), on the panel or sides of the panel.

In one embodiment, for changing the defective panels, it can be used inserial procedure or parallel procedure, using multiple robots onmultiple tracks from 2 sides of the panel (left and right sides). Thecarrying robot has multiple shelves, to store the good and bad panels,separately, on different shelves or drawers or trays. For differentheights for panels on the ground, the rails are located at multipleheights, and thus, they can be used on bridges, tunnels, and overpasses(over another track), similar to a train track/rail system.

In one embodiment, the panels have holes on them, for draining waterfrom rain to ground, or for recycling water. The robot or base supportsystem can have a small motor to shake/move the plates slightly, toprevent the formation of ice, for de-icing purpose. The cover for ice orsand or dirt can be screen, plastic cover, metal accordion shape coverthat folds and unfolds, umbrella similar to the ones people use duringrain that can fold and put aside (or similar to the ones near the beachand swimming pools on the tables), roller shape curtain similar to thecurtain on the windows, folding or rolling curtains (similar to the onesfor house windows, operating vertically or horizontally), or VenetianBlind type curtain. The robot can have its own umbrella or cover, forits own cover/protection, if needed, e.g. in bad weather.

In one embodiment, the panels or other parts are adjusted using gears,step-motors, motors, levers, bars, screws (e.g. for engaging ordisengaging the panels), latches (e.g. for engaging or disengaging thepanels), screw/inclined curling/rotating surface mechanism (e.g. anArchimedean Screw or the screw-pump mechanism, which is historicallyused for transferring water) (e.g. to lift the panel by a jack or lift,using such a mechanism, by a gear or lever/rod or small motor),gear-boxes, clutches, engines (similar to a car), or combination ofthem. In one embodiment, the major problems/repairs/defects are solvedin the depot, for the robot or panel (e.g. using the carrying robot, ortransferring to the depot), and minor problems are fixed on spot at thepanel site, to save cost and time.

In one embodiment, this invention/panels are used on other planets (ordeserts in Africa, or North or South Pole, or on a ship floating on thesea, with extreme weather conditions) for generating electricity, wherethe stations need electricity, and where the dust/snow storms arepossible. However, the robots are much cheaper and more practical thanhuman repair person, to do the repair and cleaning in theremote/harsh/extreme places.

In one embodiment, the robot is controlled remotely, as an option, fromHQ, by a computer or a human operator, who can see the whole operationand read the sensors, using cameras and sensors on the robot. In oneembodiment, the robot and panels are moved on the same tracks.Alternatively, they can be moved on different tracks. In one embodiment,the robot has a siren or bell to notify others that it is approaching,similar to a train. In one embodiment, the robot has a brake, to stop,similar to a train or car.

In one embodiment, the robot goes to a station for calibration, foritself or a panel, e.g. electrical or optical measurements. In oneembodiment, the robot moves by a conveyer belt or chain, with pulley orgear, hooked to it by a latch, grip, or hook, pulled on a track, by theforce exerted from belt or chain. In one embodiment, the rails/crosssections look like a dove-tail and notch combination. In one embodiment,the installer robot is used to install the tracks and whole farminitially. In one embodiment, the robot does self-diagnosis,self-repair, self-assembly, and self-test.

In one embodiment, the HQ keeps track of the lifetime and defects toanalyze which manufacturer or batch of panels are more defective, forfuture feedback to correct the problems at the panel factory, or changecomponents periodically to prevent major shut-down. In one embodiment,the robot, panel, and HQ share knowledge, intelligence, data, andprocessor for decision makings or coordination with other panels androbots, as centralized, distributed, or somewhere in-between. Bydistributing responsibilities and functions (e.g. modularizing/re-usingthe system, farm, robots, components, and functions), the repairs andchanges are much faster, focused, and cheaper, to maintain the farmoperational.

In one embodiment, the robot has a hand or suction tube or sharp pointedbar, to pick up garbage on the track or panel. In one embodiment, therobot has a leak detector (for pipes or containers, for gas, liquid, orsolid), or detector for inspecting the rails with camera or ultrasound,to inspect the defects for prevention or repairs. In one embodiment, thebaby robot moves on the panel the same way as that the mechanism of theprint-head for ink-jet printers, during printing on a sheet of paper.

In one embodiment, the robot has the motor and/or pump(s), rather thanthe panel having them (which is another embodiment (or both robot andpanel having them, which is yet another embodiment, as well)), whichsaves the user a lot of money, due to having less number of pumps andmotors (used for adjustments and repairs) for the whole farm, for futurerepairs or initial installation costs.

In one embodiment, the robot has a Swiss Army Knife type device for alltool tips needed. In one embodiment, the baby robot has a suction foot,using pump or motor, for a baby robot to walk (e.g. using feet similarto a human) on the panel, without falling off the panel, to preventdamage to the baby robot. In one embodiment, the HQ uses redundancies,backups, and schedule optimization, for tasking robots at differentlocations at a big farm, to reduce downtime and unnecessary movements ofrobots (for shortest or fastest route, as an example), using anyoptimization or scheduling module and software in the prior art/market.

In one embodiment, the robot has a hydraulic for liftingpanel/adjustment of the angles for the panel, with respect to the Sunand season, for tracking Sun/optimization. In one embodiment, the robothas a siren or bell or sound box, to scare the birds away, or animals,for cleaner farm, which requires less maintenance. In one embodiment,the robot has an ultrasonic device for surface cleaning, similar tothose of the dentists for cleaning the teeth, by vibration (or thevibration used in semiconductor cleaning process, to clean thesubstrate, using liquid chemicals and cleaners, or using de-ionized orregular or recycled or clean water).

In one embodiment, the panels or robots have gutters, recycling bins,recycling tray, and recycling bags, for water and other objects, such asused and defective screws/metals. In one embodiment, the robot shines alaser (that it has) on a target, to focus and adjust panels, foroptimization, e.g. in mirror farms, focusing on a small area on a tower,or focusing on a water or liquid or fluid pipe or container. In oneembodiment, one/single panel, or subpanel, or device, or row, or column,or matrix, or solar cell, or cell is inspected, and only the defectivepart(s) or devices or panels or subpanels are replaced/repaired.

In one embodiment, FIG. 27a , the solar cells on a solar panel may bemonitored by a robot by shining light (e.g., a white source ormonochromatic), on a solar cell, and measure the output of the cell (orpanel or a row of cells). The light source may be previously calibrated.Various calibration checks for the light source may be achieved,e.g., 1) by moving the robot over a calibration panel and measuring theconsistency of the light source, 2) using calibration cells on the solarpanel itself, and 3) using the calibration light detector on the robot,e.g., by diverting it (e.g., reflecting the light from the light sourceonto a calibration photo cell, or placing a photo cell at proximity ofthe light source to capture portion of the incident rays from the lightsource). A location that the visual or output level indications point toan obstruction or a residue, the affected solar cell/panel may be testedagainst calibrated light source to determine the effect of obstruction(e.g., by comparing to the baseline/historical values).

In one embodiment, testing and monitoring the solar cells may be done atnight, early morning, or late afternoon, when there is no substantialSun rays to capture by the panel, so the monitoring would not interferewith power production of the solar panel. The telescopic arms of therobot can change the inclined angle of the robot, as well as the heightof the robot, by moving the sides of the robot up or down, e.g. to makethe robot substantially parallel to the current inclination or positionof the solar panel.

In one embodiment, the robot on top shines light on the panel/sensors,and measures the output (and compares against the calibration/baseline).Also, it needs to perform self-calibration, e.g., reflecting light onits own sensor and/or measuring Sun light intensity with its ownphoto-detector. This will help adjusting for variations in Sun light, asclouds interfere, or as other elements affecting the measuredparameter/output/efficiency.

FIG. 27a also shows a solar cell/small panel on robot itself, for powersupply for the robot. It has a light source and lens assembly. The robothas telescopic arm(s) for height and angle adjustment for moving,repairs, Sun tracking, optimization, and other functions. The robotmoves on multiple rails on both sides. The retractable plug is usefulfor electrical connections or disengagement, for electricity in/out,and/or measurements/signal/data collected (e.g. electrical/optical),through probes connected to the panel, at the side of the panel.

FIG. 27b shows the optical setup shown in FIG. 27a , as an example. Thelight source shines light on the solar panel, and using an actuatedhinge, to open/close the shutter with a mirror, the robot can divert thelight to a small local photocell sheet/plane/bracket/piece, in theassembly, for calibration purposes, for comparison, to normalize, andget a better result for variations, to calculate panel efficiency, orfinding the defects or problems or dirt on the panels. Once the shutteris open, using a motor, step motor, or a rod from robot, the lightshines onto the panel/solar cells again, through the focusing lens andtransparent cover.

FIG. 27c shows the optical setup shown in FIG. 27a , as an example,similar to FIG. 27b . The difference with FIG. 27b is that the moveableshutter is replaced with a stationary semi-transparent mirror, which canreflect and transmit partially the incident light (mostly transmitted),to remove the need for the mechanical mechanism shown in FIG. 27b forthe shutter.

FIG. 28 shows another example for the use of gas (e.g., air orcompressed/pressurized air or hot air, from atank/cylinder/pipe/valve/manifold, from station, HQ, central location,robot supply tank, panel supply tank, or pipes along the tracks), to dryor clean the solar cells or solar panel, from water, rain, dust ordebris. Or, one can use a streak free liquid or cleaning detergent, ormultiple liquids in a sequence applied to the surface of the panel, fromone or more nozzles or valves, one-by-one, one at a time, or pre-mixed,or mixed at the surface, or simultaneously at the same time, inparallel. Or, one can use a nozzle (through the nozzle), afterpositioning the nozzle above the solar cell/panel. The nozzle may bemoved laterally or be tilted to run the water or debris off of the solarcells/panel, in a direction closer to the edge of the panel, asdetermined by the robot on a case by case basis, or push them in thedirection of the slope of the panel, for easier pushing to the edge ofthe panel, to get rid of the water or debris.

In one embodiment, the nozzle may be attached to the tool holder. Thegas may be supplied directly to the nozzle or through the tool holderand the robot. The gas may be switched on/off at the tool holder by, forexample, a relay or at its source by a controllable valve, or via avalve in the robot. The robot or HQ can control the on/off switch/valve.The robot may carry multiple containers for detergent, water, and gas.Multiple nozzles may be used to dispense or spray various materials(e.g., liquids or gas or powder or mixture or compound or fluid ordetergent or chemicals, e.g. for de-icing or cleaning). A nozzle may beused to dispense multiple materials.

For FIG. 29, it teaches multiple small antennas (similar to LoJacksystem for stolen car recovery and e.g. 3-4 antennas on the police cars)or GPS (similar to GPS system for the cars or other vehicles or phones)or RFID (similar to the ones for inventory tracking in a big warehouse,such as those used by Walmart Corporation, e.g. for tags or IDs, passiveor active RFID systems) on a robot, used for GPS or triangulations,interacting with satellite or local stationary antennas or markers,distributed in the farm, to find the (relative or absolute) position ofthe robot or panels. Multiple positioning stations are located in thefarm (e.g., 2910 at corner, 2920 at side, and 2930 in the middle), forrobots to determine their positions in the farm. In the farm, the solarpanels (e.g., 2900) may be arranged in an array. A robot may determineits position via one or more of the positioning stations. The stationsmay wirelessly communicate with the robot, each other, and/or a networkinfrastructure. The stations may use a line of sight technology, such asinfrared, to detect an obstruction (e.g., a robot) crossing the line ofsite (or using a motion detector, or a pattern recognition module). Eachpositioning station may compromise of two or more positioning elementsthat provide boundaries, and either detect or let robot detect when itis crossing the boundary, e.g., by using line of sight beams (e.g. thatare crossed, similar to the automatic garage door opener safetyfeature). The position of the robot can be used by the robot or otherrobots or HQ, to find the optimum route to the next assignment, toreduce time delay and cost, using any scheduling and optimizing moduleavailable in the market.

FIG. 30 represents the structure for supply routes, such as wires,cables, pipes, or conduits, e.g. for water and soap and electricity anddata and gas. It can also be for electricity in/out of the robot orpanel, or measurement connections for data and calibration or status ofa panel or robot, such as efficiency data, repair data inbound/outbound,analysis, scheduling, tasking commands for robots, reports by robots,acknowledgement signals by robots or stations, any wired or wirelesscommunications transmitted (along with cables and wires or probe wiresfor those purposes), voltages, powers, or currents measured data,optical data, or any other measured parameters frompanels/cells/devices/solar panels/subpanels/rows of devices. The HQ ormain supply tank or depot 3002 is connected through the lines orconduits or pipes 3008, 3006, and 3004, to supply or communicate withstations or nodes 3010 at corners of the farm (and 3020 at the boundarystations or nodes, or 3030 in-between stations or nodes along the tracksor routes), inbound/outbound, in multiple directions, for the whole farmfor communication and supply and power management, for the panelsmanagement and repair, e.g. 3000. In one example, wireless devices orantennas can also be added to the stations or nodes for communicationsor data or power transmission, in addition to wires and cables.

FIG. 31a teaches rotating tool holder with axis of rotation parallel tothe plane of solar panel, as an example, connected to the panel or robotor at a station along the tracks. It can also be inside the body of therobot. The holder rotates to a correct position, for a robot to pick upa needed tool, from the j-th position/hole/shelf on the holder.

FIG. 31b teaches rotating tool holder with axis of rotation not parallelto the plane of solar panel, as an example, connected to the panel orrobot or at a station along the tracks. It can also be inside the bodyof the robot. The holder rotates to a correct position, for a robot topick up a needed tool, from the j-th position/hole/shelf on the holder.Alternatively, the tool can be engaged on the surface of the panel,directly, without being picked up by the robot, e.g. a screw driver tip,out of the tool holder, can engage a screw on the panel, and tighten thescrew, using the tool holder as a tool handle or arm of the robot.

FIG. 32 shows a toolbox, holder, tools, and various slots to store them,connected to the panel or robot or at a station along the tracks. It canalso be inside the body of the robot. The holder can move on a rail, orthe robot arm can move to the right slot/slit/opening/gap, to positionthe arm or robot to pick up/exchange/return the intended and neededtool.

FIG. 33a shows robot accessories and attachments/tools, which can beconnected or attached to robot, or panel, or station, as a box or holderor container or hook or bag or deposit box or shelf, for example asshown in FIG. 33c for bag, container, or toolbox. Some examples are:holders or grips to hold objects, wiper for cleaning,manifold/valves/mixer/separators/filters for gases or fluids ormixtures, spare parts for repairs, covers for protection against stormor rain or sand or dust, battery for charging or operation of devices onthe robot or elsewhere, measurement or analysis tools (such as camera,sensors, probes, voltmeters, detectors, and photodetectors), orrecycling tray or bag for recycling objects such as water or purifyingfor re-use (to conserve water, to reduce cost, located under the robotor panel, and pumped back up using a floating or regular pump or motor,for re-use for cleaning with brush or nozzle, as an example).

The probe for measurements, as one example for a tool, can beelectrical, mechanical, magnetic, piezoelectric, X-ray, ultrasonic, oracoustic probe. The probes can be located under the panel or front ofthe panel, for transmission or backscattering or reflection signals,coming from one or more sources at top, side, or back of the panels, andresulting signals being detected on the front, side, or back, as thesignal gets transmitted, refracted, reflected, or backscattered,accordingly, based on the geometry of the source(s) with respect to thepanel/detectors. The position of the detectors can be self-adjusted bysensor itself, e.g. on a small rail with a small motor or wheel, or byrobot moving the angle or position of the sensors, accordingly, withrobot using an arm or hand, and sensor located on a rail(s) or between 2bars or on a slide scale/track or with a screw and nut system between anarrow gap for holding that sensor, to maximize/optimize themeasurements/position sensors correctly for measurements.

FIG. 33b shows robot components, connected electrically or data-wise,wirelessly or by wire or optically, communicating or sendingdata/information to each other. For example, they are: memory, processorunit or microprocessor for analysis, connected to HQ for furtherprocessing, communication devices or antennas or optical for sendingdata in/out, controllers e.g. to adjust air pressure, ADC/DAC for analogto digital or vice versa conversions e.g. for sensors or data orcommands, navigation e.g. GPS or tags or IDs to find and locate objects,robots, or panels (or find the best/fastest/shortest route to get to adestination/panel), servo-motor units for moving objects and operations,sensors for detections, and accessories for tools or measurements oroperations.

FIG. 33c shows an example of a robot with attached, or holding, atoolbox, bag, orcontainer/tray/shelf/box/package/carton/envelop/attachment/extension.

FIG. 34 shows an example of a solar farm with components and unitsshown:

-   -   depot having repair facility for robots and components, with        calibration units for measurements, and user/human being        present, as operator, with parts and supply to be picked up by        robots, and waste collected or recycled from/to robots, with        communication wired or wirelessly to other locations and units        or HQ (main processor for decisions).    -   tracks and power lines across the farm, and connected to depot        and stations.    -   solar panels connected to the local grid, and also to the        outside power grid through some central power management        facility for monitoring and interface purposes, e.g. with DC/AC        current convertors, or surge protectors for protection of the        grids and panels/system/farm.    -   HQ with an operator, with Internet or network access.    -   monitors/PCs/computers, with operators, with servers and        databases, for control station, for history, analysis, and        information, also communicating with HQ, power management        facility, and depot/stations/panels/robots.

FIG. 35 shows an example of method/steps of determining the angularposition of the panel:

1) Old position is in DB/database/memory.

2) Position is now determined by the position of the panel support.

3) Retrieve or receive data from panel (calculated by panel). Forexample, panel or central server gets locality and time information andSun position, to determine its own position, after multiplemeasurements.

4) Robot places its own probe on the panel. Or, a panel having suchprobe is integrated with it. For example, it is containing a leveldevice for measuring horizontal plane (with liquid, similar to the onesfor house constructions), in 3 dimensions. Or, one can use MEMS (smallsensors, or Micro-Electro-Mechanical Systems), or inclinometer sensors.

To determine the position of the Sun, with respect to the panel, hereare some examples/embodiments/methods:

1) Analytically, based on the time of day and year, and geographicallatitude, plus the position of panel.

2) Measured via a ray-tracer aligned (or attached) to the panel.

3) Maximizing the output of solar cell sensor or panel, by varying thepanel angular position, i.e., via a negative feedback.

To adjust the coarse/fine movements of the panel, the panel is set on aframe that is set on the support and base. The coarse movement is donevia adjusting the position of the supports, while the fine movement isdone by adjusting the relative position of the frame and panel, asdepicted in steps 3510, 3515, 3520, and 3525, as an example.

FIG. 36a shows a panel on a frame, with leg(s) support with coarseadjustments, and moving/adjusting up/down for the legs, e.g. using ajack, lift, or screw system, e.g. using robot or motor/actuator, usinghinge/joint/spherical hinge(s) for connectivity, stability, andflexibility. Then, the fine adjustments can be done between frame andpanel using screw and bars or nuts, or spring loaded plates, using thelever or screw driver by the robot, to adjust small heights and anglesin 3-D space, for the plane of the panel. In another embodiment, aslightly-loose cable through the frame (e.g. as a loop/closed longellipse shape) can also be used for the adjustment of the angle for thepanel, e.g. by securing one end of the cable, and pulling the other end(or the middle portion of the loop), using a motor, bar, or chain, e.g.by the robot.

In another embodiment, only one side of the panel is moved up/down,using actuator/motor, and the other side just follows, as for alignment.In another embodiment, each leg (e.g. 4-6 legs) can be moved up/down,both for coarse and fine adjustments, as an option, giving multipledegrees of freedom for better adjustments, with minimumeffort/feedback/re-adjustments (faster adjustments).

FIG. 36b shows a new system for hinge or movement support, comprisingmultiple hinges and connections. Connection (or connector) 1 isconnected to hinge 1, and connection 2 is connected to hinge 2. There isa cross bar between hinges 1 and 2. The overall system has 2 angles offreedom in 3-D space for flexibility, similar to the spherical hinges orconnectors. Connectors 1 and 2 can move, with hinges 1 and 2 rotating,similar to a spherical hinge movement/support/flexibility. Thus, thisnew system in FIG. 36b is very useful for most of our figures in thisinvention related to the movements of objects, e.g. to be used in FIG.36a , as a replacement for spherical hinge or connector.

FIG. 36c shows a new system for jack or lifter, with a shaft/driver,driving through a gearbox and multiple gears, to do reverse or multiplespeeds, for coarse and fine movements for the legs, for differentadjustments.

FIG. 37 shows the adjustment of the position by coarse movements using“coarse-movement” markers, e.g. on the panel, 3730 and 3735, afterdetermining the position and path of the robot 3710 and 3720, and movingother robots out of the way 3725. Then, the fine adjustments/movement isdone using “fine-movement” marker(s), in a loop, 3740 and 3745, until itis satisfactory (in the logic decision loop). Then, it applies the brakeor slide to final position slowly 3750, or using a grip/holder. Thislogic can be used for all adjustments in this invention, includingheight and angles, to do coarse, semi-coarse, and fine adjustments (e.g.in N times/steps), in multiple steps/loops, so that it will adjust moreefficiently. The Fuzzy Logic module can be added to this system, tostop/adjust more efficiently/faster (to avoid abrupt braking andaccelerations, to reduce waste of energy/money and time).

FIG. 38 shows an example for FIG. 37 system. A robot moving on a path(e.g. to the right direction, e.g. on rail or land or hanged from a topoverhead rail or floating on air cushion on a rail, as in hovercraft, orfloating on a magnetic-driven rail, as in high-speed trains), withmultiple (e.g. 2) sensors looking for markers, to sense coarse marker(s)and fine markers (in this order), first in the coarse vicinity region,then in the fine vicinity region(s), with one or combination of sensors,starting with coarse speed (faster) and then with fine speed (movement)(slower), going back and forth, as a logic loop, until threshold orrequirement is reached/satisfied, with aligned position, with respect tothe panel, for each loop separately. Instead of 2 degrees of adjustment(coarse and fine), we can have 3 or more, e.g. N (an integer), for moreefficiency. However, at one point, higher N values arecounterproductive, due to overhead/computational/adjustment delays, andusually N=3 or 4 may be enough, for all practical purposes.

FIG. 39 shows an example of the dispatching and scheduling for robots.The inspector robot inspects a panel or another object in the farm, tofind defects and problems, 3910, using all methods described above.Then, to fix the problems 3915, the HQ helps the robot determine supplyand inventories/locations of depots or stations holding them 3920, whichis an optimization problem, using any optimization/scheduling module inthe prior art. Then, based on the locations of robots 3925 working inthe field and their availabilities (e.g. if they need 5 minutes tofinish the current task, and 10 minutes to get to the next task/panel,or if they need to retire themselves for repair of the robot itself atthe depot, as the indication of the unavailability of the robot e.g. forthe next 5 hours, or if another robot is nearby for the backup, or dothe task, instead), then HQ will decide which robot goes where and dowhat task, based on type of robot/location, so that the total delays inthe farm is minimized. Another embodiment is that the delay for anindividual/single robot is optimized/minimized, which may be generallydifferent for overall delays/expenses/optimizations for the wholefarm/all robots, as a whole. That is another optimization problem, withlinear optimization or other solutions in the market.

Dispatching (D) to different robots for different tasks is done by HQ,after optimization/scheduling, to command to move specific robots (R) tospecific locations (L) for specific tasks (T), from current location(L₀), which have estimated length of time corresponding to each task,which HQ takes into account for scheduling purpose, for series ofrepairs by the same robot. In addition, e.g., for one/the first robotwashing the panel with water and 2^(nd) robot cleaning and drying thepanel, we need the first robot scheduled first for the panel, and afterthat, the second robot comes to the panel. This way, there may be amargin of error in timing/delay between these processes/steps. Thus, weshould order the robots' arrivals accordingly, with enough margin oftime in-between, so that they do not interfere with each other, or waitunnecessarily for another robot, or to avoid collision of robots on thesame track, if there is no parking space nearby, parallel to the tracks.All these timing requirements/constraints come in to the optimizationproblem/equation, for dispatching 3930, 3940, 3935.

For one embodiment, mathematically, for the measurements (e.g.electrical, optical, magnetic, or other parameters) (M), by sensors anddetectors (S), based on parameters (voltage (V), current (C), orothers), we have the functions F and G:M ₁ =F(S ₁ ,S ₂ , . . . ,S _(N))=G(V,C, . . . )

(with N being a positive integer bigger than 1.)

When calibrating using calibration sensors (S_(C)) or devices (e.g.resulting in voltage V_(C) and current C_(C)) to normalize (Q) themeasurements, then we will have the corresponding functions F₁ and G₁:Q ₁ =F ₁(S ₁ ,S ₂ , . . . ,S _(N) ,S _(C))=G ₁(V,C, . . . ,V _(C) ,C_(C) . . . )

The defect Y is distinguished/analyzed based on normalized measurements,Q₁, Q₂, Q₃, . . . , and comparing to the history data (orcomparison/calibration/test data), Q_(H), as a function of B:Y=B(Q _(H) ,Q ₁ ,Q ₂ ,Q ₃, . . . )

For dispatch optimization D, as a function H, we will have:D=H(R,L,T,L ₀ ,Y, . . . )

For all robots or whole farm, the optimization shall be (D_(F)):D _(F) =Z(D ₁ ,D ₂ ,D ₃ , . . . ,D _(i)),

where i is a positive integer, and Z is the optimizationfunction/operator, such as linear optimizer, located at the processor atthe HQ or main processor or CPU.

where D₁, D₂, D₃, . . . , D_(i) refer to dispatch functions for idifferent robots active/working in the farm, at a given time.

Basically, we have a function (or more functions (objective function)),that we want to minimize or maximize (optimize), with allparameters/dependencies/functions/relationships/constraints mentionedabove. Therefore, now, we solve for dispatching and scheduling functionfor the whole farm D_(F).

Any variations of the above teaching are also intended to be covered bythis patent application.

The invention claimed is:
 1. A method of repairing or replacing a solarpanel, or components, parts, or structure of said solar panel, in asolar farm using a robot, said method comprising: said robot moving insaid solar farm; wherein said robot comprises an arm and a trunk, withsaid arm connected to said trunk, and a tool or apparatus attached to orincorporated in said arm; wherein said solar panel comprises one or morecalibration cells or sensors; measuring electrical or opticalcharacteristics or parameters of said one or more calibration cells orsensors; transferring said measured electrical or opticalcharacteristics or parameters of said one or more calibration cells orsensors to a processor; said processor analyzing said measuredelectrical or optical characteristics or parameters of said one or morecalibration cells or sensors, to determine status or condition of saidsolar panel; based on said status or condition of said solar panel, saidprocessor determining if a repair or replacement is needed orrecommended for said solar panel, or said components, parts, orstructure of said solar panel; in case of said determination by saidprocessor is a need or recommendation for said repair or replacement,said processor dispatching said robot to said solar panel; said robotmoving to said solar panel; said robot repairing or replacing said solarpanel, or said components, parts, or structure of said solar panel. 2.The method of repairing or replacing a solar panel, or components,parts, or structure of said solar panel, in a solar farm using a robot,as recited in claim 1, said method comprises: using a baby robot forsome function or task.
 3. The method of repairing or replacing a solarpanel, or components, parts, or structure of said solar panel, in asolar farm using a robot, as recited in claim 1, said method comprises:soldering, connecting, or repairing a piece, a metal wire, or aconnection.
 4. The method of repairing or replacing a solar panel, orcomponents, parts, or structure of said solar panel, in a solar farmusing a robot, as recited in claim 1, said method comprises: welding apiece.
 5. The method of repairing or replacing a solar panel, orcomponents, parts, or structure of said solar panel, in a solar farmusing a robot, as recited in claim 1, said method comprises: sandblasting a piece.
 6. The method of repairing or replacing a solar panel,or components, parts, or structure of said solar panel, in a solar farmusing a robot, as recited in claim 1, said method comprises: de-icingsaid solar panel.
 7. The method of repairing or replacing a solar panel,or components, parts, or structure of said solar panel, in a solar farmusing a robot, as recited in claim 1, said method comprises: replacingsaid solar panel.
 8. The method of repairing or replacing a solar panel,or components, parts, or structure of said solar panel, in a solar farmusing a robot, as recited in claim 1, said method comprises: repairingsaid solar panel.
 9. The method of repairing or replacing a solar panel,or components, parts, or structure of said solar panel, in a solar farmusing a robot, as recited in claim 1, said method comprises: replacing acomponent of said solar panel.
 10. The method of repairing or replacinga solar panel, or components, parts, or structure of said solar panel,in a solar farm using a robot, as recited in Maim 1, said methodcomprises: repairing a component of said solar panel.
 11. The method ofrepairing or replacing a solar panel, or components, parts, or structureof said solar panel, in a solar farm using a robot, as recited in claim1, wherein said robot comprises one or more of following: a flat bed,lifter, pusher, camera, light source, vacuum cleaner, cable, wire,antenna, pipe, conduit, lens, mirror, bag, container, gear box, gear,spare parts container, valve control, mixing unit, pump, cover,cylinder, gas tank, water supply, liquid supply, water or liquid orrecycle waste container, battery, charger, outlet, recycling or garbagebin, overflow sensor, and water or liquid recycle or waste tray.
 12. Themethod of repairing or replacing a solar panel, or components, parts, orstructure of said solar panel, in a solar farm using a robot, as recitedin claim 1, wherein said robot comprises one or more of following: abrush, broom, sweeper, wiper, nozzle, light source, camera, probe, plug,mechanical grip, magnetic grip, vacuum suction grip, vacuum cleanerhead, screw driver, soldering device, welding device, oil dispenser,finger, gripper, grip tool, clamp, hook, or tool holder.
 13. The methodof repairing or replacing a solar panel, or components, parts, orstructure of said solar panel, in a solar farm using a robot, as recitedin claim 1, said method comprises: using a coarse adjustment and a fineadjustment for proper positioning of said robot.
 14. The method ofrepairing or replacing a solar panel, or components, parts, or structureof said solar panel, in a solar farm using a robot, as recited in claim1, said method comprises: using a screw driver.
 15. The method ofrepairing or replacing a solar panel, or components, parts, or structureof said solar panel, in a solar farm using a robot, as recited in claim1, said method comprises: using a fastener.
 16. The method of repairingor replacing a solar panel, or components, parts, or structure of saidsolar panel, in a solar farm using a robot, as recited in claim 1, saidmethod comprises: using an oil dispenser.
 17. The method of repairing orreplacing a solar panel, or components, parts, or structure of saidsolar panel, in a solar farm using a robot, as recited in claim 1, saidmethod comprises: using glue on a piece.
 18. The method of repairing orreplacing a solar panel, or components, parts, or structure of saidsolar panel, in a solar farm using a robot, as recited in claim 1, saidmethod comprises: fixing a defective panel or component.
 19. The methodof repairing or replacing a solar panel, or components, parts, orstructure of said solar panel, in a solar farm using a robot, as recitedin claim 1, said method comprises: fixing a wire or cable.
 20. Themethod of repairing or replacing a solar panel, or components, parts, orstructure of said solar panel, in a solar farm using a robot, as recitedin claim 1, said method comprises: using a clamp or grip.